62 results about "Integral sliding mode" patented technology

The invention discloses a flexible joint mechanical arm AISMC compensation control method under singular perturbation decomposition, and belongs to the field of flexible joint mechanical arm control, and the method comprises the following steps: S1, building a flexible joint mechanical arm dynamic model containing uncertain composite disturbance, and decoupling the model into a slow variable subsystem and a fast variable subsystem; s2, estimating lumped matching disturbance in the slow varying subsystem by using a compensation function observer; s3, constructing an integral sliding mode surface and a self-adaptive reaching law with dead zone correction for the slow-varying subsystem; designing a linear quadratic regulator for the quick-change subsystem, defining a performance index, and solving a Riccati equation to obtain an optimal control law; s4, superposing the slow-varying subsystem control law and the fast-varying subsystem control law to obtain integral control input; and S5, performing simulation verification. By adopting the flexible joint mechanical arm AISMC compensation control method under singular perturbation decomposition, trajectory tracking precision, robustness and stability are considered, and the method has a wide application prospect.

The invention belongs to the technical field of robot control, and discloses a visual servo intelligent robust control method for a mobile mechanical arm for a complex operation task, which comprises the following steps of: 1, acquiring a working scene image, and calculating a space coordinate of a target feature point in real time through a projection transformation model; step 2, dynamically inhibiting visual measurement noise by adopting adaptive Kalman filtering, generating a feedforward compensation signal through an integral sliding mode observer, and decoupling chassis slippage disturbance; step 3, inputting the pose signal into a radial RBF neural network, designing an RBF gain scheduler, and adjusting an output proportion-integral gain in real time to suppress external time-varying disturbance; 4, adopting a hybrid visual servo mode switching mechanism, and generating a mobile platform control instruction through an integral sliding mode surface in a position servo mode; and 5, designing a three-order composite controller to drive the mechanical arm so as to realize accurate grabbing. According to the method, the grabbing deviation caused by kinematics uncertainty of the mobile platform and dynamic environment disturbance is eliminated.

The invention relates to the technical field of motor driving, and discloses a brushless motor non-inductive FOC driving method and device, and the method comprises the steps: collecting a first three-phase stator current and a bus voltage of a brushless motor, and calculating a rotor position estimation value; performing coordinate transformation on the first three-phase stator current to obtain a first d-axis actual current and a first q-axis actual current, and calculating a first d-axis current error and a first q-axis current error; calculating a d-axis first-order integral value, a d-axis double-integral accumulated value, a q-axis first-order integral value and a q-axis double-integral accumulated value, and constructing a d-axis double-integral sliding mode surface and a q-axis double-integral sliding mode surface; according to the method, a d-axis compensation voltage instruction is generated based on the d-axis double-integral sliding mode surface, a q-axis compensation voltage instruction is generated based on the q-axis double-integral sliding mode surface, the d-axis compensation voltage instruction and the q-axis compensation voltage instruction are applied to the brushless motor, the problem of magnetic field orientation deviation caused by position estimation lag in non-inductive FOC driving is solved, and the output efficiency of the motor is improved.

A wind power generation system preset time maximum power point tracking control method comprises the following steps: firstly, establishing a wind power generation system dynamic model containing parameter uncertainty and external disturbance, and meanwhile, constructing a preset time convergence integral sliding mode surface; the method has the core advantages that the convergence time can be directly set by controller parameters and is irrelevant to the initial state of the system; secondly, designing a preset time self-adaptive controller based on the rotating speed tracking error and the sliding mode surface, and enabling the rotating speed tracking error to be quickly converged in preset time; the upper bound of lumped uncertainty of the system is estimated online through a self-adaptive mechanism, unknown dynamic and external disturbance are compensated in a unified mode, and dependence on an accurate model and disturbance prior knowledge is not needed; and finally, strictly proving the preset time stability of the closed-loop system through a Lyapunov stability theory. The method has good dynamic response performance and predictable convergence behaviors, and the robustness and the power generation efficiency of the system are improved.

The application discloses a TBM cutter head main drive intelligent decision method and system, and belongs to the technical field of cutter head drive control. By constructing a master-slave type multi-drive unit collaborative architecture, unified regulation and control and target torque distribution of the drive system are realized; by monitoring current signals to identify faults, voltage vectors are reconstructed according to fault types, and continuous and stable output under faults is ensured; a disturbance observation method based on integral sliding mode is proposed, control deviation caused by system disturbance and parameter change is dynamically estimated and compensated; an MPTA control strategy of high-frequency virtual signal injection is designed, utilization of reluctance torque and stable tracking of the MTPA operating point are realized; the torque output capacity of the fault unit and the torque margin of the healthy unit are considered as a whole, a load distribution strategy is planned, and the overall load carrying capacity and operating life of the drive system are improved.

This invention relates to an AUV close-range docking method based on sliding mode adaptive control under ocean current interference. The controller design eliminates decoupling of the AUV's motion and incorporates an integral term in the sliding mode adaptive controller design, employing Integral Sliding Mode Adaptive Control (ISMAC) to minimize chattering during the AUV's approach motion. Finally, in designing the control parameters, overshoot is minimized at the expense of settling time to ensure successful docking. Furthermore, the estimation of ocean current velocity gives the system a certain degree of anti-interference capability, demonstrating its robustness.

The application discloses a permanent magnet synchronous motor speed and current model-free control method based on an improved second-order hyperlocal model, collects three-phase currents of the permanent magnet synchronous motor, constructs a second-order sliding mode observer on a mechanical angular velocity and total disturbance of the system based on an improved second-order hyperlocal model model-free sliding mode speed controller MFSMSC, observes the mechanical angular velocity and the total disturbance of the system, designs an adaptive approach law of a variable boundary layer and a second-order integral sliding mode surface, and obtains a q-axis current reference signal; the q-axis current reference signal is output to a model-free predictive current controller MFPCC based on the improved second-order hyperlocal model, dq-axis reference voltages are obtained, after inverse Park conversion, alpha-beta-axis stator voltage reference vectors are obtained, three-phase inverter switching driving signals are obtained through SVPWM operation, six switching tubes of the three-phase inverter are driven to be turned on and turned off, and then the three-phase winding currents of the permanent magnet synchronous motor are adjusted. The application adopts a classical cascade control architecture with a speed loop outer loop and a current loop inner loop, the improved second-order hyperlocal model improves disturbance estimation accuracy, and the improved second-order hyperlocal model enhances the suppression performance on high-frequency noise, and the MFPCC based on the improved second-order hyperlocal model improves the robustness of the system to motor parameter perturbation.

The invention discloses a current control system and method of a surface-mounted permanent magnet synchronous motor, and belongs to the field of motor control. The system comprises: an extended SPMSM model for uniformly modeling uncertainty factors as disturbance terms, the uncertainty factors comprising parameter mismatch and external disturbance; the fast terminal integral sliding mode disturbance observer is used for estimating and updating a disturbance term according to the state of the extended SPMSM; and the improved sliding mode current controller is used for performing compensation according to the updated disturbance term and generating a control voltage to the inverter in combination with a fast terminal reaching law, and the inverter correspondingly drives the SPMSM. According to the method, collaborative optimization of high-precision current tracking, high parameter disturbance resistance and low buffeting is achieved, and the method is suitable for scenes such as electric vehicle driving and industrial servo which have strict requirements for dynamic performance and reliability.

This invention relates to the field of multi-agent system control. To address the consistency problem faced by networked multi-agent systems, it provides an observer-based multi-agent sliding mode control method and system under communication constraints. The observer-based multi-agent sliding mode control method under communication constraints includes establishing a model of a networked linear multi-agent system subject to external disturbances and with incompletely measurable states, and the communication topology between each agent; constructing distributed sliding mode observers for each agent; constructing an event-triggered mechanism based on exponential decay rate and a logarithmic quantizer model; and combining the distributed sliding mode observer, the event-triggered mechanism, and the logarithmic quantizer model to construct an observer-based event-triggered quantized integral sliding mode control law to control each agent, thereby achieving average consistency of the multi-agent system. It can effectively achieve average consistency of networked multi-agent systems under conditions of unmeasurable states, external disturbances, and limited communication bandwidth.

The application discloses an unmanned ship power positioning integral sliding mode fault-tolerant control method based on a fuzzy system, and comprises the following steps: a mathematical model of unmanned ship movement under an actuator fault is established; a T-S fuzzy model of the unmanned ship corresponding to the mathematical model is established; based on the established T-S fuzzy model of the unmanned ship, an integral sliding mode surface with fault information is constructed; and the asymptotic stability of the sliding mode dynamics of the system is proved by combining the definition of performance index and related lemmas.Aiming at the nonlinear term in the T-S fuzzy model of the unmanned ship, a fuzzy logic method is used to approximate the unknown smooth nonlinear term; based on the constructed integral sliding mode surface with fault information, a suitable Lyapunov function is selected, a fault-tolerant controller and an adaptive law are designed, and the reachability of the system is proved.The application can solve the problem that the resolution and complexity of the T-S model of the unmanned ship are difficult to balance, and can also ensure that the system has robustness from the initial stage.

The invention discloses a control method for improving transient performance of a network-forming converter, and the method comprises the steps: active power control: employing a second-order sliding mode control method, outputting an electromagnetic power reference value based on the construction of an improved integral sliding mode surface and a power angle error determined by an actually measured power angle and a target power angle, and adjusting the active power actually output by the converter; reactive power and voltage control: adopting a switching control method to select a direct voltage control mode or a reactive power-voltage droop control mode based on the relationship between the actual output voltage of the converter and a preset safety voltage threshold; fault transient current suppression: when a power grid fault is detected, inputting dynamic virtual impedance, adjusting the ratio (R / L) of resistance to inductance of the dynamic virtual impedance, and actively changing the total loop impedance characteristic of the output end of the converter; after the voltage of the power grid is recovered, the virtual recovery resistor is put into use, and transient current in the voltage recovery period is suppressed.

The invention relates to the technical field of multi-unmanned aerial vehicle formation fault tolerance, in particular to a multi-unmanned aerial vehicle formation adaptive fuzzy sliding mode fault tolerance control method, which comprises the steps of S1, establishing a multi-unmanned aerial vehicle formation system dynamic model; s2, defining a formation global position tracking error and a speed tracking error based on a navigation-following architecture and a communication topological structure; s3, designing a disturbance interval observer, and estimating upper and lower bounds of unknown external disturbance in real time by establishing a disturbance exogenous model and an auxiliary variable adaptive law; s4, constructing an integral sliding mode surface based on a preset performance function, performing adaptive approximation on the lumped uncertain item by adopting a fuzzy logic system, and designing an adaptive fuzzy sliding mode fault-tolerant controller; and S5, proving that the formation tracking error is gradually converged to zero in finite time through Lyapunov stability analysis. When the unmanned aerial vehicle breaks down, reliable transmission of task information and formation keeping can be guaranteed, good robustness and environmental adaptability are achieved, and the stable control performance of the unmanned aerial vehicle in a complex task scene is effectively improved.

The invention discloses an engineering vehicle walking torque distribution and driving anti-skid control method and system, and belongs to the technical field of engineering vehicle control. The method comprises the steps that pedal, gear and wheel speed signals of a vehicle are collected, segmented nonlinear reanalysis and walking mode identification are carried out, preliminary distribution and constraint of four-wheel driving or braking energy recovery torque are carried out, and a four-wheel initial torque request is generated; anti-skid reference tracking wheel speed is generated based on the vehicle state, the actual wheel speed of each wheel is compared with the reference wheel speed, the rotation state of each wheel is independently identified in a distributed mode in combination with the opening degree of an accelerator, and an identifier is output; and when there is wheel slip, calculating a torque takeover value based on a robust integral sliding mode control algorithm by taking the reference wheel speed as a target, and taking a small value of the torque takeover value and an initial torque request of a corresponding wheel as final output. The problem that traditional anti-skid control fails near zero speed is solved, and full-working-condition and high-precision self-adaptive driving anti-skid control is achieved.

The invention provides a maneuvering control method for a multi-axle off-road vehicle around any circle for inhibiting nonlinear disturbance, which comprises the following steps: enabling any expected trajectory to be tracked by the multi-axle off-road vehicle to be equivalent to a combination of circular trajectories around different circle centers, and calculating an ideal turning radius; determining an expected side slip angle and an expected yaw velocity required for tracking each circular trajectory in combination with the longitudinal velocity of the vehicle; by taking sensitivity minimization as an optimization target, solving an optimal inter-axis rotation angle proportional relation used for maneuvering control around any circle, and determining a feed-forward rotation angle of each steering shaft in combination with an expected side slip angle and an expected yaw velocity; on the basis of an integral sliding mode control theory, through a virtual control quantity distribution strategy, all steering shaft compensation rotation angles used for restraining vehicle parameter uncertainty and external disturbance are generated; and superposing the feed-forward rotation angle and the compensation rotation angle to generate a final control rotation angle of each steering shaft, sending the final control rotation angle to a steering execution system of the multi-shaft off-road vehicle, and driving the vehicle to complete maneuvering control around any circular trajectory.

A kind of water unmanned ship motion control method and system based on PID integral sliding mode, by constructing unmanned ship physical model and obtaining simulation output information by system input, by calculating the error of simulation output information and expected output and using PID-based integral sliding mode control algorithm, the expected adjustment force and torque control signal is obtained, which is transmitted to the actuator to realize unmanned ship motion control.The present application combines PID control with sliding mode control, further combines the proportional, integral and differential elements with the sliding surface, so that the controller can flexibly adjust the control parameters under different dynamic characteristics requirements, while effectively accelerating the convergence speed of the system, with portability and deployability.

The invention relates to the field of commercial aircraft control, in particular to a robust longitudinal tracking control method for a commercial aircraft in a climbing stage based on an event trigger mechanism, which comprises the following steps: step 1, on the basis of a hypothesis of a small attack angle, considering system uncertainty including unmodeled dynamics and exogenous disturbance, and determining a minimum attack angle; establishing a commercial aircraft state space model; 2, designing an integral sliding mode surface and a controller based on a disturbance term of the commercial aircraft state space model, and carrying out disturbance adaptive estimation; 3, designing a sliding mode controller based on a backstepping method based on the disturbance term estimation value, and ensuring that the tracking error of the flight path angle of the aircraft can be converged to 0; 4, designing a dynamic switching event triggering mechanism based on the stable system to ensure that the system can be asymptotically stable; 5, applying to a longitudinal tracking control strategy of the commercial aircraft; accurate longitudinal attitude tracking control of the commercial aircraft can be realized under an event triggering framework.

This invention belongs to the field of magnetic levitation bearing technology, specifically relating to a control method and system for magnetic levitation bearings. By combining auxiliary fourth-order LESO with integral sliding mode control, the anti-disturbance capability is significantly improved, and the suppression effect on various disturbances is superior to traditional control. By employing a saturation function and an external integrator, the problems of control chattering and integral saturation are solved. With the help of piecewise fal function TD and other designs, dynamic and steady-state performance are balanced, achieving zero steady-state error levitation and greatly shortening the settling time. The control method proposed in this invention features core parameter correlation design, requires no complex tuning, is compatible with existing hardware, and can be directly embedded into the controller, making engineering implementation simpler.

The invention discloses a self-adaptive integral sliding mode cooperative queue control strategy based on reinforcement learning, belongs to the field of intelligent control, and mainly aims to realize the stability and optimal control performance of a whole queue by online adjusting the weight of a neural network through reinforcement learning under the conditions of actuator saturation, parameter uncertainty and external disturbance. The method comprises the following steps: establishing a queue system model with uncertainty, external disturbance and actuator saturation; establishing a collaborative queue tracking error; establishing a reinforcement learning commentator network; establishing a reinforcement learning actor network; establishing a queue integral sliding mode surface; and establishing an adaptive integral sliding mode cooperative queue control strategy based on reinforcement learning. The method is used for cooperative queue intelligent control.

The cable contour laser positioning method and system based on Newton iteration and integral sliding mode are characterized in that cable contour data are collected in real time by a laser displacement sensor, high-precision contour error calculation is realized through dynamic contour error estimation based on Newton update algorithm, contour error is integrated into an integral sliding mode controller through a feedback modification strategy, high-precision tracking and positioning of the cable outer contour are realized, and in combination with an adaptive disturbance estimation technology, system uncertainty disturbance is compensated, and the robustness of the system is improved. The profile control technology is integrated into the cable processing system, the profile positioning precision and adaptive capacity in the stripping and cutting processing of high-voltage cables are improved, the quality of cable joint manufacturing is ensured, intelligent, accurate and stable tracking of the cable outer contour is realized, the automation level and reliability of the cable stripping operation are improved, the operation safety of the power system is maintained, and the method has important engineering application value in the field of high-voltage cable joint manufacturing.

The application discloses a soft manipulator preset time sliding mode tracking control method and system based on PSO-BP, belongs to the soft robot control technical field, and relates to the following technical scheme: a nonlinear model of a soft manipulator is established, a controlled object model is obtained by rewriting the soft manipulator, and robust right coprime factorization processing is performed to obtain an equivalent control object; a tracking error is constructed, an error integral term is introduced into a sliding mode surface, and an integral sliding mode surface is established; a compound sliding mode control law is designed based on the integral sliding mode surface; a plurality of control gains corresponding to system total convergence time is obtained through simulation; a sample data set of the control gain and the total convergence time is constructed; the sample data set is trained to establish an inverse mapping model of the expected convergence time to the control gain; a target convergence time is inputted to obtain a corresponding control gain, which is substituted into the compound sliding mode control law to generate a driving air pressure control amount. The application has the beneficial effects that a soft manipulator preset time sliding mode tracking control method based on PSO-BP is provided.

The invention discloses a wind driven generator maximum power point feed-forward compensation disturbance suppression control method, and relates to the technical field of renewable energy management, and the method comprises the steps: building a wind driven generator comprehensive model based on the structure parameters of a wind driven generator; based on the comprehensive model of the wind driven generator, defining a system state of the wind driven generator, and building a first-order control equation; based on a wind power model in the comprehensive model of the wind driven generator, an expansion state is defined according to total disturbance containing random wind power, and an expansion state observer is designed according to the function relation of the wind power model; converting the maximum output power point tracking target into a wind wheel rotating speed tracking control target, and defining a wind wheel rotating speed tracking error; and constructing a feedforward compensation disturbance suppression controller by adopting a nonlinear integral sliding mode surface. According to the invention, by introducing a feedforward compensation mechanism, disturbance caused by wind speed change is estimated and counteracted, so that the response speed and the steady-state performance are improved.

The present disclosure relates to a method and device for controlling a flywheel energy storage system, electronic equipment and storage medium, and relates to the field of power generation. The method comprises the following steps: obtaining a reference power of the flywheel energy storage system; determining a reference angular velocity of a motor of the flywheel energy storage system according to the reference power; obtaining an actual angular velocity of the motor; determining a speed error according to the reference angular velocity and the actual angular velocity; determining an integral sliding mode surface corresponding to the speed error; and controlling the motor of the flywheel energy storage system according to the speed error and the integral sliding mode surface to smooth the output power of the generator set. In this way, the integral sliding mode surface is established for the speed error, the motor of the flywheel energy storage system is controlled to smooth the output power of the generator set, the problem of poor anti-interference ability and weak robustness of the traditional PI controller of the motor in the flywheel energy storage system is solved, the system can quickly respond to rapid changes under external interference, and the anti-interference ability and robustness of the motor are improved.

The application discloses a flexible functional fiber constant stress winding forming method and a winding device. The constant stress winding forming method derives yarn target tension and yarn pre-tension required under the condition that total stress and back pressure are constant through constructing a mechanics model, and dynamically adjusts the rotating speed of different motors according to the obtained yarn pre-tension, so that the uniformity of the distribution of the cheese density is significantly improved, and the forming defects are effectively inhibited. Meanwhile, the application dynamically adjusts the back pressure by using an integral sliding mode control algorithm based on a space domain, calculates the feedforward equivalent control and the nonlinear switching control respectively, inversely solves the obtained back pressure, obtains the required adjusted arm pressure, and accurately controls the rotating arm motor of the yarn in the winding process, so that the stress of each layer in the cheese is kept constant, and finally the forming effect that the overall density distribution of the cheese is uniform and the structural stability is significantly improved is realized.

This invention provides an enhanced active disturbance rejection control (ADRC) method and its stability analysis method for an adaptive extended state observer (AESO) for permanent magnet linear motors, belonging to the field of high-performance control technology for permanent magnet linear motors. The enhanced ADRC method includes: Step S1, establishing a kinematic model based on the electromagnetic parameters of the permanent magnet linear motor; Step S2, calculating the integral sliding mode control surface based on the kinematic model, and calculating the final sliding mode control law based on the kinematic model and the integral sliding mode control surface; Step S3, obtaining the total disturbance estimate based on the structure of the LESO, and then calculating the bandwidth adaptive law to obtain the adaptive extended state observer (AESO) based on the bandwidth adaptive law; Step S4, realizing enhanced ADRC for the permanent magnet linear motor based on the final sliding mode control law and the AESO. This invention effectively solves the problems of high-speed tracking performance and anti-interference performance, achieving two-degree-of-freedom control of speed loop speed and disturbance rejection.

The invention discloses a large-aperture space telescope fixed time sliding mode anti-interference control method and related equipment. The method comprises the following steps: establishing a double-inertia system dynamic model containing motor end and load end dynamic parameters and total disturbance; constructing a fixed time expansion state observer based on the model, and estimating the total disturbance of the motor end; converting the model into a generalized all-wheel-drive system model through an all-wheel-drive system theory, designing an expected closed-loop system model, and identifying the expected closed-loop system model by using a neural network to obtain a preset performance function; a motor end angle position tracking error is obtained, and a speed ring reference speed instruction is generated after preset performance function constraint transformation; defining an angular velocity tracking error based on the instruction, constructing a fixed time terminal integral sliding mode control surface and designing a sliding mode reaching law; and finally, synthesizing a motor control law and applying the motor control law to a driving motor to complete anti-interference control. The problems that a traditional preset performance function is single in form, an observer cannot converge at fixed time, and a traditional control mode is difficult to suppress vibration, high in cost and limited are solved.

The invention relates to the technical field of permanent magnet synchronous motor control, and discloses a PMSM position sensorless control system with an improved SMO. An SMO module is improved; a second-order low-pass filter module; a position / rotating speed extraction module; a PI controller module; and an inverter module. According to the invention, a novel approach rate is designed, the approach gain can be dynamically adjusted according to system errors, and adaptive balance of acceleration approach in case of large errors and chattering suppression in case of small errors is realized; a saturation function easy to realize is adopted as a control switching function, buffeting during system control is reduced, and the control precision is improved; an integral sliding mode surface is adopted to replace a traditional sliding mode surface, the influence of stator resistance is eliminated, and the convergence speed and parameter disturbance resistance of a control system are improved; and a second-order low-pass filter is adopted, so that useless high-frequency interference signals can be attenuated more quickly, high-frequency noise can be filtered more thoroughly, and the estimation precision is improved.

The application provides a method for realizing asynchronous motor speed control by adopting a method combining double-loop agent and sliding mode control; a speed error integral sliding mode signal is formed by a speed error signal and an integral thereof, then ideal current signals of t-axis and m-axis are generated by nonlinear transformation combination, and double-axis current error signals are obtained by comparison with measured t-axis and m-axis current signals; then an agent model is established based on the double-axis current error signals, a high-gain proportional integral sliding mode control is adopted to establish a strong coupling relationship between the agent model state and the current error state; unknown uncertain information of the model is preliminarily estimated by using a sliding mode adaptive method; finally, a proportional integral type sliding mode signal is designed according to the agent model, and nonlinear high-gain transformation is adopted to superimpose adaptive control, so that the state of the agent model is stable and the motor can track the given speed signal, and the method has the advantages that the corresponding speed of large and small instruction signals is fast.

The application discloses a kind of underactuated unmanned ship track tracking control methods based on adaptive sliding mode, steps are as follows: step 1: according to model parameter uncertainty and external disturbance influence factor, the motion equation of the mathematical model of describing underactuated unmanned ship in horizontal plane three degrees of freedom is established;Step 2: the tracking error dynamic equation is established by tangential trajectory coordinate system;Step 3: based on Lyapunov stability theory, according to tracking error dynamic equation, trajectory tracking guidance law is designed;Step 4: barrier function and super-torsion integral sliding mode method are used, according to the expected bow angle and expected forward speed in trajectory tracking guidance law, motion equation, the sliding mode controller of forward speed and bow angle is designed, and unmanned ship is controlled by the sliding mode controller of forward speed and bow angle.The application obtains expected forward speed and expected bow angle by designing track tracking guidance law, based on Lyapunov stability theory, and then guarantees the convergence of tracking error.

The invention relates to a steering under-constrained multi-axle vehicle sensitivity analysis and transverse dynamics constraint control method, which comprises the following steps of: calculating an ideal yaw velocity and a side slip angle when a multi-axle vehicle tracks an expected path according to expected path information, vehicle real-time position information and vehicle state information; establishing a multi-axle vehicle transverse dynamic model and a state tracking-oriented decoupling control model; calculating the sensitivity index of each rotation angle input to the yaw velocity and the side slip angle of the vehicle under different working conditions, analyzing the influence degree and the coupling relation of each rotation angle to the transverse dynamic performance of the vehicle, and obtaining a key control rotation angle; constructing an integral sliding mode state constraint controller based on the obstacle Lyapunov function; and according to a multi-axle vehicle turning angle signal output by the controller, an instruction is issued to the actuator, so that the turning angle of each axle is adjusted to a required angle, the motion state of the vehicle is changed, and tracking control is realized. The method can ensure safe and stable driving of the vehicle while realizing accurate tracking control of the multi-axle vehicle.

The invention discloses a harmonic wave observer-based magnetic field modulation permanent magnet motor harmonic wave adaptive sliding mode control method and a permanent magnet motor. Firstly, a mathematical model of a magnetic field modulation permanent magnet motor is constructed, then a state variable of a control system is defined and a state equation is established, then a novel harmonic observer is designed, and then observed harmonic disturbance is fed forward to a sliding mode controller of a speed ring. And finally, designing the compensation torque of the harmonic observer into a self-adaptive algorithm, designing a novel harmonic self-adaptive sliding mode reaching law on the basis of the self-adaptive algorithm, modulating a mathematical model of the permanent magnet motor and a state equation of a control system through a magnetic field, and obtaining a novel harmonic self-adaptive integral sliding mode controller by adopting an integral sliding mode surface. According to the novel controller, rapid and accurate non-overshoot following of the position of the magnetic field modulation permanent magnet motor, which cannot be realized by traditional PI control, is realized, the robustness of a system to uncertain interference is effectively improved, and torque fluctuation generated by motor movement is inhibited.